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<a href="#pub-static-methods">Static Public Member Functions</a>  </div>
  <div class="headertitle"><div class="title">nc::rotations::DCM Class Reference</div></div>
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<p>Factory methods for generating direction cosine matrices and vectors.  
 <a href="classnc_1_1rotations_1_1_d_c_m.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_d_c_m_8hpp_source.html">DCM.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a06a1a09ec0bb27c45690afbc08d22f50"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a06a1a09ec0bb27c45690afbc08d22f50">eulerAngles</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;angles)</td></tr>
<tr class="separator:a06a1a09ec0bb27c45690afbc08d22f50"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afede4ed689a9771968945857c7cd0c1d"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#afede4ed689a9771968945857c7cd0c1d">eulerAngles</a> (double <a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">roll</a>, double <a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">pitch</a>, double <a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">yaw</a>)</td></tr>
<tr class="separator:afede4ed689a9771968945857c7cd0c1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab72e3514a6022ebea6e63030eb0d2418"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#ab72e3514a6022ebea6e63030eb0d2418">eulerAxisAngle</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inAxis, double inAngle)</td></tr>
<tr class="separator:ab72e3514a6022ebea6e63030eb0d2418"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06b61d863ede73a445a5fb6b5a0673a2"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a06b61d863ede73a445a5fb6b5a0673a2">eulerAxisAngle</a> (const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;inAxis, double inAngle)</td></tr>
<tr class="separator:a06b61d863ede73a445a5fb6b5a0673a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1947c7618408b063b704ec391e27888"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#ab1947c7618408b063b704ec391e27888">isValid</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inArray)</td></tr>
<tr class="separator:ab1947c7618408b063b704ec391e27888"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a726e1d9c5e2a88dbd7e70b8fc9d55fbf"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">pitch</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;dcm)</td></tr>
<tr class="separator:a726e1d9c5e2a88dbd7e70b8fc9d55fbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac562518ebdec1ce36cf8897a16f16fca"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#ac562518ebdec1ce36cf8897a16f16fca">roll</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;dcm)</td></tr>
<tr class="separator:ac562518ebdec1ce36cf8897a16f16fca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c5d11f29221326e532335cc5fe01906"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a1c5d11f29221326e532335cc5fe01906">xRotation</a> (double inAngle)</td></tr>
<tr class="separator:a1c5d11f29221326e532335cc5fe01906"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef0f27b195b93151a94cb86ca9fa21c9"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#aef0f27b195b93151a94cb86ca9fa21c9">yaw</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;dcm)</td></tr>
<tr class="separator:aef0f27b195b93151a94cb86ca9fa21c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a178b8bf61941070bd629263312b627dd"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a178b8bf61941070bd629263312b627dd">yRotation</a> (double inAngle)</td></tr>
<tr class="separator:a178b8bf61941070bd629263312b627dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a626b0bd2a3cf54e958f5c4d89b3c843b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_d_c_m.html#a626b0bd2a3cf54e958f5c4d89b3c843b">zRotation</a> (double inAngle)</td></tr>
<tr class="separator:a626b0bd2a3cf54e958f5c4d89b3c843b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p >Factory methods for generating direction cosine matrices and vectors. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a06a1a09ec0bb27c45690afbc08d22f50" name="a06a1a09ec0bb27c45690afbc08d22f50"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a06a1a09ec0bb27c45690afbc08d22f50">&#9670;&nbsp;</a></span>eulerAngles() <span class="overload">[1/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::DCM::eulerAngles </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>angles</em></td><td>)</td>
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<p >returns a direction cosine matrix that rotates according to the input euler angles</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">angles</td><td>euler roll, pitch, angles </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html" title="Holds 1D and 2D arrays, the main work horse of the NumCpp library.">NdArray</a> </dd></dl>

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<a id="afede4ed689a9771968945857c7cd0c1d" name="afede4ed689a9771968945857c7cd0c1d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afede4ed689a9771968945857c7cd0c1d">&#9670;&nbsp;</a></span>eulerAngles() <span class="overload">[2/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::DCM::eulerAngles </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>yaw</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p >returns a direction cosine matrix that rotates according to the input euler angles</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">roll</td><td>euler roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>euler pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>euler yaw angle in radians </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html" title="Holds 1D and 2D arrays, the main work horse of the NumCpp library.">NdArray</a> </dd></dl>

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<a id="ab72e3514a6022ebea6e63030eb0d2418" name="ab72e3514a6022ebea6e63030eb0d2418"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab72e3514a6022ebea6e63030eb0d2418">&#9670;&nbsp;</a></span>eulerAxisAngle() <span class="overload">[1/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::DCM::eulerAxisAngle </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inAxis</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p >returns a direction cosine matrix that rotates about the input axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAxis</td><td>euler axis cartesian vector with x,y,z components </td></tr>
    <tr><td class="paramname">inAngle</td><td>euler angle in radians </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html" title="Holds 1D and 2D arrays, the main work horse of the NumCpp library.">NdArray</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a06b61d863ede73a445a5fb6b5a0673a2">&#9670;&nbsp;</a></span>eulerAxisAngle() <span class="overload">[2/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::DCM::eulerAxisAngle </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inAxis</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p >returns a direction cosine matrix that rotates about the input axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAxis</td><td>euler axis cartesian vector with x,y,z components </td></tr>
    <tr><td class="paramname">inAngle</td><td>euler angle in radians </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html" title="Holds 1D and 2D arrays, the main work horse of the NumCpp library.">NdArray</a> </dd></dl>

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<a id="ab1947c7618408b063b704ec391e27888" name="ab1947c7618408b063b704ec391e27888"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab1947c7618408b063b704ec391e27888">&#9670;&nbsp;</a></span>isValid()</h2>

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          <td class="memname">static bool nc::rotations::DCM::isValid </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inArray</em></td><td>)</td>
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<p >returns whether the input array is a direction cosine matrix</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inArray</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a726e1d9c5e2a88dbd7e70b8fc9d55fbf">&#9670;&nbsp;</a></span>pitch()</h2>

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          <td class="memname">static double nc::rotations::DCM::pitch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>dcm</em></td><td>)</td>
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<p >The euler pitch angle in radians</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">dcm</td><td>a valid direction cosine matrix </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>euler pitch angle in radians </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac562518ebdec1ce36cf8897a16f16fca">&#9670;&nbsp;</a></span>roll()</h2>

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<p >The euler roll angle in radians</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">dcm</td><td>a valid direction cosine matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>euler roll angle in radians </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a1c5d11f29221326e532335cc5fe01906">&#9670;&nbsp;</a></span>xRotation()</h2>

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<p >returns a direction cosine matrix that rotates about the x axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inAngle</td><td>(in radians) </td></tr>
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  </dd>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aef0f27b195b93151a94cb86ca9fa21c9">&#9670;&nbsp;</a></span>yaw()</h2>

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          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
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<p >The euler yaw angle in radians</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">dcm</td><td>a valid direction cosine matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>euler yaw angle in radians </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a178b8bf61941070bd629263312b627dd">&#9670;&nbsp;</a></span>yRotation()</h2>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
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<p >returns a direction cosine matrix that rotates about the x axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(in radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a626b0bd2a3cf54e958f5c4d89b3c843b">&#9670;&nbsp;</a></span>zRotation()</h2>

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          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::DCM::zRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
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<p >returns a direction cosine matrix that rotates about the x axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(in radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="_d_c_m_8hpp_source.html">DCM.hpp</a></li>
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